NERDSwerve base code

An ultra-simplified swerve code outline, optimized for use with a 2-pod TurdSwerve

The template code uses Spark MAX motor controllers, PWM-based absolute encoders, and a Pigeon 2.0 gyroscope, but is easily reconfigured for other electronics.

Features:

• Field-centric teleoperated driving
• WPILib-based odometry & Shuffleboard odometry output
• Custom pod zeroing tool
• Azimuth PID controllers (currently tuned for original TurdSwerve pods) and Shuffleboard tuning system
• Smart robot heading PID controller
• Organized code (probably) follows FRC coding conventions

In order to use this codebase on your robot, you will need to:

• Adjust your motor, encoder, & gyro CAN IDs to match the codebase
• Adjust the input/output functions to match your electronics
• Set your robot's pod zeros in the code
• Retune the azimuth PID controller for your pod type and motor type